diff options
author | Teravus Ovares | 2009-04-05 08:35:38 +0000 |
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committer | Teravus Ovares | 2009-04-05 08:35:38 +0000 |
commit | e592d038430ab994ed65df4f66e0cf5c32af476c (patch) | |
tree | fda1471564c4f5d24785df72803668fb117b16c4 /OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs | |
parent | Added CreateObject(regionhandle, userID, itemID) to post objects that are to ... (diff) | |
download | opensim-SC_OLD-e592d038430ab994ed65df4f66e0cf5c32af476c.zip opensim-SC_OLD-e592d038430ab994ed65df4f66e0cf5c32af476c.tar.gz opensim-SC_OLD-e592d038430ab994ed65df4f66e0cf5c32af476c.tar.bz2 opensim-SC_OLD-e592d038430ab994ed65df4f66e0cf5c32af476c.tar.xz |
* Committing what I have on the BulletDotNETPlugin that I have so far.
* It's not ready to try. It doesn't do what you expect in many ways.
* It throws errors and prints jibberish on the console
* Test it out only if you're brave and you've backed up first.
* The opensim.ini line is physics = BulletDotNETPlugin
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs | 1104 |
1 files changed, 1104 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs new file mode 100644 index 0000000..6791671 --- /dev/null +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs | |||
@@ -0,0 +1,1104 @@ | |||
1 | using System; | ||
2 | using System.Reflection; | ||
3 | using BulletDotNET; | ||
4 | using OpenMetaverse; | ||
5 | using OpenSim.Framework; | ||
6 | using OpenSim.Region.Physics.Manager; | ||
7 | using log4net; | ||
8 | |||
9 | namespace OpenSim.Region.Physics.BulletDotNETPlugin | ||
10 | { | ||
11 | public class BulletDotNETCharacter : PhysicsActor | ||
12 | { | ||
13 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | ||
14 | |||
15 | public btRigidBody Body; | ||
16 | public btCollisionShape Shell; | ||
17 | public btVector3 tempVector1; | ||
18 | public btVector3 tempVector2; | ||
19 | public btVector3 tempVector3; | ||
20 | public btVector3 tempVector4; | ||
21 | |||
22 | public btVector3 tempVector5RayCast; | ||
23 | public btVector3 tempVector6RayCast; | ||
24 | public btVector3 tempVector7RayCast; | ||
25 | |||
26 | public btQuaternion tempQuat1; | ||
27 | public btTransform tempTrans1; | ||
28 | |||
29 | public ClosestNotMeRayResultCallback ClosestCastResult; | ||
30 | private btTransform m_bodyTransform; | ||
31 | private btVector3 m_bodyPosition; | ||
32 | private btVector3 m_CapsuleOrientationAxis; | ||
33 | private btQuaternion m_bodyOrientation; | ||
34 | private btDefaultMotionState m_bodyMotionState; | ||
35 | private btGeneric6DofConstraint m_aMotor; | ||
36 | private PhysicsVector m_movementComparision; | ||
37 | private PhysicsVector m_position; | ||
38 | private PhysicsVector m_zeroPosition; | ||
39 | private bool m_zeroFlag = false; | ||
40 | private bool m_lastUpdateSent = false; | ||
41 | private PhysicsVector m_velocity; | ||
42 | private PhysicsVector m_target_velocity; | ||
43 | private PhysicsVector m_acceleration; | ||
44 | private PhysicsVector m_rotationalVelocity; | ||
45 | private bool m_pidControllerActive = true; | ||
46 | public float PID_D = 80.0f; | ||
47 | public float PID_P = 90.0f; | ||
48 | public float CAPSULE_RADIUS = 0.37f; | ||
49 | public float CAPSULE_LENGTH = 2.140599f; | ||
50 | public float heightFudgeFactor = 0.52f; | ||
51 | public float walkDivisor = 1.3f; | ||
52 | public float runDivisor = 0.8f; | ||
53 | private float m_mass = 80f; | ||
54 | public float m_density = 60f; | ||
55 | private bool m_flying = false; | ||
56 | private bool m_iscolliding = false; | ||
57 | private bool m_iscollidingGround = false; | ||
58 | private bool m_wascolliding = false; | ||
59 | private bool m_wascollidingGround = false; | ||
60 | private bool m_iscollidingObj = false; | ||
61 | private bool m_alwaysRun = false; | ||
62 | private bool m_hackSentFall = false; | ||
63 | private bool m_hackSentFly = false; | ||
64 | public uint m_localID = 0; | ||
65 | public bool m_returnCollisions = false; | ||
66 | // taints and their non-tainted counterparts | ||
67 | public bool m_isPhysical = false; // the current physical status | ||
68 | public bool m_tainted_isPhysical = false; // set when the physical status is tainted (false=not existing in physics engine, true=existing) | ||
69 | private float m_tainted_CAPSULE_LENGTH; // set when the capsule length changes. | ||
70 | private bool m_taintRemove = false; | ||
71 | private bool m_taintedPosition = false; | ||
72 | private PhysicsVector m_taintedPosition_value; | ||
73 | private PhysicsVector m_taintedForce; | ||
74 | |||
75 | private float m_buoyancy = 0f; | ||
76 | |||
77 | // private CollisionLocker ode; | ||
78 | |||
79 | private string m_name = String.Empty; | ||
80 | |||
81 | private bool[] m_colliderarr = new bool[11]; | ||
82 | private bool[] m_colliderGroundarr = new bool[11]; | ||
83 | |||
84 | |||
85 | |||
86 | private BulletDotNETScene m_parent_scene; | ||
87 | |||
88 | public int m_eventsubscription = 0; | ||
89 | private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); | ||
90 | |||
91 | public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) | ||
92 | { | ||
93 | m_taintedForce = new PhysicsVector(); | ||
94 | m_velocity = new PhysicsVector(); | ||
95 | m_target_velocity = new PhysicsVector(); | ||
96 | m_position = pos; | ||
97 | m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless | ||
98 | m_acceleration = new PhysicsVector(); | ||
99 | m_parent_scene = parent_scene; | ||
100 | PID_D = pid_d; | ||
101 | PID_P = pid_p; | ||
102 | CAPSULE_RADIUS = capsule_radius; | ||
103 | m_density = density; | ||
104 | heightFudgeFactor = height_fudge_factor; | ||
105 | walkDivisor = walk_divisor; | ||
106 | runDivisor = rundivisor; | ||
107 | |||
108 | for (int i = 0; i < 11; i++) | ||
109 | { | ||
110 | m_colliderarr[i] = false; | ||
111 | } | ||
112 | for (int i = 0; i < 11; i++) | ||
113 | { | ||
114 | m_colliderGroundarr[i] = false; | ||
115 | } | ||
116 | CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; | ||
117 | m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; | ||
118 | m_isPhysical = false; // current status: no ODE information exists | ||
119 | m_tainted_isPhysical = true; // new tainted status: need to create ODE information | ||
120 | |||
121 | m_parent_scene.AddPhysicsActorTaint(this); | ||
122 | |||
123 | m_name = avName; | ||
124 | tempVector1 = new btVector3(0, 0, 0); | ||
125 | tempVector2 = new btVector3(0, 0, 0); | ||
126 | tempVector3 = new btVector3(0, 0, 0); | ||
127 | tempVector4 = new btVector3(0, 0, 0); | ||
128 | |||
129 | tempVector5RayCast = new btVector3(0, 0, 0); | ||
130 | tempVector6RayCast = new btVector3(0, 0, 0); | ||
131 | tempVector7RayCast = new btVector3(0, 0, 0); | ||
132 | |||
133 | tempQuat1 = new btQuaternion(0, 0, 0, 1); | ||
134 | tempTrans1 = new btTransform(tempQuat1, tempVector1); | ||
135 | m_movementComparision = new PhysicsVector(0, 0, 0); | ||
136 | m_CapsuleOrientationAxis = new btVector3(1, 0, 1); | ||
137 | |||
138 | |||
139 | |||
140 | } | ||
141 | |||
142 | /// <summary> | ||
143 | /// This creates the Avatar's physical Surrogate at the position supplied | ||
144 | /// </summary> | ||
145 | /// <param name="npositionX"></param> | ||
146 | /// <param name="npositionY"></param> | ||
147 | /// <param name="npositionZ"></param> | ||
148 | |||
149 | // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access | ||
150 | // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only | ||
151 | // place that is safe to call this routine AvatarGeomAndBodyCreation. | ||
152 | private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) | ||
153 | { | ||
154 | |||
155 | if (CAPSULE_LENGTH <= 0) | ||
156 | { | ||
157 | m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); | ||
158 | CAPSULE_LENGTH = 0.01f; | ||
159 | |||
160 | } | ||
161 | |||
162 | if (CAPSULE_RADIUS <= 0) | ||
163 | { | ||
164 | m_log.Warn("[PHYSICS]: The capsule size you specified in opensim.ini is invalid! Setting it to the smallest possible size!"); | ||
165 | CAPSULE_RADIUS = 0.01f; | ||
166 | |||
167 | } | ||
168 | |||
169 | Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH); | ||
170 | |||
171 | if (m_bodyPosition == null) | ||
172 | m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ); | ||
173 | |||
174 | m_bodyPosition.setValue(npositionX, npositionY, npositionZ); | ||
175 | |||
176 | if (m_bodyOrientation == null) | ||
177 | m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90)); | ||
178 | |||
179 | if (m_bodyTransform == null) | ||
180 | m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); | ||
181 | else | ||
182 | { | ||
183 | m_bodyTransform.Dispose(); | ||
184 | m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); | ||
185 | } | ||
186 | |||
187 | if (m_bodyMotionState == null) | ||
188 | m_bodyMotionState = new btDefaultMotionState(m_bodyTransform); | ||
189 | else | ||
190 | m_bodyMotionState.setWorldTransform(m_bodyTransform); | ||
191 | |||
192 | m_mass = Mass; | ||
193 | |||
194 | Body = new btRigidBody(m_mass, m_bodyMotionState, Shell); | ||
195 | Body.setUserPointer(new IntPtr((int)Body.Handle)); | ||
196 | |||
197 | if (ClosestCastResult != null) | ||
198 | ClosestCastResult.Dispose(); | ||
199 | ClosestCastResult = new ClosestNotMeRayResultCallback(Body); | ||
200 | |||
201 | m_parent_scene.AddRigidBody(Body); | ||
202 | Body.setActivationState(4); | ||
203 | if (m_aMotor != null) | ||
204 | { | ||
205 | if (m_aMotor.Handle != IntPtr.Zero) | ||
206 | { | ||
207 | m_parent_scene.getBulletWorld().removeConstraint(m_aMotor); | ||
208 | m_aMotor.Dispose(); | ||
209 | } | ||
210 | m_aMotor = null; | ||
211 | } | ||
212 | |||
213 | m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody, | ||
214 | m_parent_scene.TransZero, | ||
215 | m_parent_scene.TransZero, false); | ||
216 | m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero); | ||
217 | m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero); | ||
218 | |||
219 | |||
220 | } | ||
221 | public void Remove() | ||
222 | { | ||
223 | m_taintRemove = true; | ||
224 | } | ||
225 | public override bool Stopped | ||
226 | { | ||
227 | get { return m_zeroFlag; } | ||
228 | } | ||
229 | |||
230 | public override PhysicsVector Size | ||
231 | { | ||
232 | get { return new PhysicsVector(CAPSULE_RADIUS * 2, CAPSULE_RADIUS * 2, CAPSULE_LENGTH); } | ||
233 | set | ||
234 | { | ||
235 | m_pidControllerActive = true; | ||
236 | |||
237 | PhysicsVector SetSize = value; | ||
238 | m_tainted_CAPSULE_LENGTH = (SetSize.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; | ||
239 | //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); | ||
240 | |||
241 | Velocity = new PhysicsVector(0f, 0f, 0f); | ||
242 | |||
243 | m_parent_scene.AddPhysicsActorTaint(this); | ||
244 | } | ||
245 | } | ||
246 | |||
247 | /// <summary> | ||
248 | /// turn the PID controller on or off. | ||
249 | /// The PID Controller will turn on all by itself in many situations | ||
250 | /// </summary> | ||
251 | /// <param name="status"></param> | ||
252 | public void SetPidStatus(bool status) | ||
253 | { | ||
254 | m_pidControllerActive = status; | ||
255 | } | ||
256 | |||
257 | public override PrimitiveBaseShape Shape | ||
258 | { | ||
259 | set { return; } | ||
260 | } | ||
261 | |||
262 | public override uint LocalID | ||
263 | { | ||
264 | set { m_localID = value; } | ||
265 | } | ||
266 | |||
267 | public override bool Grabbed | ||
268 | { | ||
269 | set { return; } | ||
270 | } | ||
271 | |||
272 | public override bool Selected | ||
273 | { | ||
274 | set { return; } | ||
275 | } | ||
276 | |||
277 | |||
278 | public override void CrossingFailure() | ||
279 | { | ||
280 | |||
281 | } | ||
282 | |||
283 | public override void link(PhysicsActor obj) | ||
284 | { | ||
285 | |||
286 | } | ||
287 | |||
288 | public override void delink() | ||
289 | { | ||
290 | |||
291 | } | ||
292 | |||
293 | public override void LockAngularMotion(PhysicsVector axis) | ||
294 | { | ||
295 | |||
296 | } | ||
297 | |||
298 | public override PhysicsVector Position | ||
299 | { | ||
300 | get { return m_position; } | ||
301 | set | ||
302 | { | ||
303 | m_taintedPosition_value = value; | ||
304 | m_position = value; | ||
305 | m_taintedPosition = true; | ||
306 | } | ||
307 | } | ||
308 | |||
309 | public override float Mass | ||
310 | { | ||
311 | get | ||
312 | { | ||
313 | float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH); | ||
314 | return m_density * AVvolume; | ||
315 | } | ||
316 | } | ||
317 | |||
318 | public override PhysicsVector Force | ||
319 | { | ||
320 | get { return new PhysicsVector(m_target_velocity.X, m_target_velocity.Y, m_target_velocity.Z); } | ||
321 | set { return; } | ||
322 | } | ||
323 | |||
324 | public override int VehicleType | ||
325 | { | ||
326 | get { return 0; } | ||
327 | set { return; } | ||
328 | } | ||
329 | |||
330 | public override void VehicleFloatParam(int param, float value) | ||
331 | { | ||
332 | |||
333 | } | ||
334 | |||
335 | public override void VehicleVectorParam(int param, PhysicsVector value) | ||
336 | { | ||
337 | |||
338 | } | ||
339 | |||
340 | public override void VehicleRotationParam(int param, Quaternion rotation) | ||
341 | { | ||
342 | |||
343 | } | ||
344 | |||
345 | public override void SetVolumeDetect(int param) | ||
346 | { | ||
347 | |||
348 | } | ||
349 | |||
350 | public override PhysicsVector GeometricCenter | ||
351 | { | ||
352 | get { return PhysicsVector.Zero; } | ||
353 | } | ||
354 | |||
355 | public override PhysicsVector CenterOfMass | ||
356 | { | ||
357 | get { return PhysicsVector.Zero; } | ||
358 | } | ||
359 | |||
360 | public override PhysicsVector Velocity | ||
361 | { | ||
362 | get | ||
363 | { | ||
364 | // There's a problem with PhysicsVector.Zero! Don't Use it Here! | ||
365 | if (m_zeroFlag) | ||
366 | return new PhysicsVector(0f, 0f, 0f); | ||
367 | m_lastUpdateSent = false; | ||
368 | return m_velocity; | ||
369 | } | ||
370 | set | ||
371 | { | ||
372 | m_pidControllerActive = true; | ||
373 | m_target_velocity = value; | ||
374 | } | ||
375 | } | ||
376 | |||
377 | public override PhysicsVector Torque | ||
378 | { | ||
379 | get { return PhysicsVector.Zero; } | ||
380 | set { return; } | ||
381 | } | ||
382 | |||
383 | public override float CollisionScore | ||
384 | { | ||
385 | get { return 0f; } | ||
386 | set { } | ||
387 | } | ||
388 | |||
389 | public override PhysicsVector Acceleration | ||
390 | { | ||
391 | get { return m_acceleration; } | ||
392 | } | ||
393 | |||
394 | public override Quaternion Orientation | ||
395 | { | ||
396 | get { return Quaternion.Identity; } | ||
397 | set | ||
398 | { | ||
399 | |||
400 | } | ||
401 | } | ||
402 | |||
403 | public override int PhysicsActorType | ||
404 | { | ||
405 | get { return (int)ActorTypes.Agent; } | ||
406 | set { return; } | ||
407 | } | ||
408 | |||
409 | public override bool IsPhysical | ||
410 | { | ||
411 | get { return false; } | ||
412 | set { return; } | ||
413 | } | ||
414 | |||
415 | public override bool Flying | ||
416 | { | ||
417 | get { return m_flying; } | ||
418 | set { m_flying = value; } | ||
419 | } | ||
420 | |||
421 | public override bool SetAlwaysRun | ||
422 | { | ||
423 | get { return m_alwaysRun; } | ||
424 | set { m_alwaysRun = value; } | ||
425 | } | ||
426 | |||
427 | |||
428 | public override bool ThrottleUpdates | ||
429 | { | ||
430 | get { return false; } | ||
431 | set { return; } | ||
432 | } | ||
433 | |||
434 | /// <summary> | ||
435 | /// Returns if the avatar is colliding in general. | ||
436 | /// This includes the ground and objects and avatar. | ||
437 | /// </summary> | ||
438 | public override bool IsColliding | ||
439 | { | ||
440 | get { return m_iscolliding; } | ||
441 | set | ||
442 | { | ||
443 | int i; | ||
444 | int truecount = 0; | ||
445 | int falsecount = 0; | ||
446 | |||
447 | if (m_colliderarr.Length >= 10) | ||
448 | { | ||
449 | for (i = 0; i < 10; i++) | ||
450 | { | ||
451 | m_colliderarr[i] = m_colliderarr[i + 1]; | ||
452 | } | ||
453 | } | ||
454 | m_colliderarr[10] = value; | ||
455 | |||
456 | for (i = 0; i < 11; i++) | ||
457 | { | ||
458 | if (m_colliderarr[i]) | ||
459 | { | ||
460 | truecount++; | ||
461 | } | ||
462 | else | ||
463 | { | ||
464 | falsecount++; | ||
465 | } | ||
466 | } | ||
467 | |||
468 | // Equal truecounts and false counts means we're colliding with something. | ||
469 | m_log.DebugFormat("[PHYSICS]: TrueCount:{0}, FalseCount:{1}",truecount,falsecount); | ||
470 | if (falsecount > 1.2 * truecount) | ||
471 | { | ||
472 | m_iscolliding = false; | ||
473 | } | ||
474 | else | ||
475 | { | ||
476 | m_iscolliding = true; | ||
477 | } | ||
478 | if (m_wascolliding != m_iscolliding) | ||
479 | { | ||
480 | //base.SendCollisionUpdate(new CollisionEventUpdate()); | ||
481 | } | ||
482 | m_wascolliding = m_iscolliding; | ||
483 | } | ||
484 | } | ||
485 | |||
486 | /// <summary> | ||
487 | /// Returns if an avatar is colliding with the ground | ||
488 | /// </summary> | ||
489 | public override bool CollidingGround | ||
490 | { | ||
491 | get { return m_iscollidingGround; } | ||
492 | set | ||
493 | { | ||
494 | // Collisions against the ground are not really reliable | ||
495 | // So, to get a consistant value we have to average the current result over time | ||
496 | // Currently we use 1 second = 10 calls to this. | ||
497 | int i; | ||
498 | int truecount = 0; | ||
499 | int falsecount = 0; | ||
500 | |||
501 | if (m_colliderGroundarr.Length >= 10) | ||
502 | { | ||
503 | for (i = 0; i < 10; i++) | ||
504 | { | ||
505 | m_colliderGroundarr[i] = m_colliderGroundarr[i + 1]; | ||
506 | } | ||
507 | } | ||
508 | m_colliderGroundarr[10] = value; | ||
509 | |||
510 | for (i = 0; i < 11; i++) | ||
511 | { | ||
512 | if (m_colliderGroundarr[i]) | ||
513 | { | ||
514 | truecount++; | ||
515 | } | ||
516 | else | ||
517 | { | ||
518 | falsecount++; | ||
519 | } | ||
520 | } | ||
521 | |||
522 | // Equal truecounts and false counts means we're colliding with something. | ||
523 | |||
524 | if (falsecount > 1.2 * truecount) | ||
525 | { | ||
526 | m_iscollidingGround = false; | ||
527 | } | ||
528 | else | ||
529 | { | ||
530 | m_iscollidingGround = true; | ||
531 | } | ||
532 | if (m_wascollidingGround != m_iscollidingGround) | ||
533 | { | ||
534 | //base.SendCollisionUpdate(new CollisionEventUpdate()); | ||
535 | } | ||
536 | m_wascollidingGround = m_iscollidingGround; | ||
537 | } | ||
538 | } | ||
539 | |||
540 | /// <summary> | ||
541 | /// Returns if the avatar is colliding with an object | ||
542 | /// </summary> | ||
543 | public override bool CollidingObj | ||
544 | { | ||
545 | get { return m_iscollidingObj; } | ||
546 | set | ||
547 | { | ||
548 | m_iscollidingObj = value; | ||
549 | if (value) | ||
550 | m_pidControllerActive = false; | ||
551 | else | ||
552 | m_pidControllerActive = true; | ||
553 | } | ||
554 | } | ||
555 | |||
556 | |||
557 | public override bool FloatOnWater | ||
558 | { | ||
559 | set { return; } | ||
560 | } | ||
561 | |||
562 | public override PhysicsVector RotationalVelocity | ||
563 | { | ||
564 | get { return m_rotationalVelocity; } | ||
565 | set { m_rotationalVelocity = value; } | ||
566 | } | ||
567 | |||
568 | public override bool Kinematic | ||
569 | { | ||
570 | get { return false; } | ||
571 | set { } | ||
572 | } | ||
573 | |||
574 | public override float Buoyancy | ||
575 | { | ||
576 | get { return m_buoyancy; } | ||
577 | set { m_buoyancy = value; } | ||
578 | } | ||
579 | |||
580 | public override PhysicsVector PIDTarget { set { return; } } | ||
581 | public override bool PIDActive { set { return; } } | ||
582 | public override float PIDTau { set { return; } } | ||
583 | |||
584 | public override bool PIDHoverActive | ||
585 | { | ||
586 | set { return; } | ||
587 | } | ||
588 | |||
589 | public override float PIDHoverHeight | ||
590 | { | ||
591 | set { return; } | ||
592 | } | ||
593 | |||
594 | public override PIDHoverType PIDHoverType | ||
595 | { | ||
596 | set { return; } | ||
597 | } | ||
598 | |||
599 | public override float PIDHoverTau | ||
600 | { | ||
601 | set { return; } | ||
602 | } | ||
603 | |||
604 | /// <summary> | ||
605 | /// Adds the force supplied to the Target Velocity | ||
606 | /// The PID controller takes this target velocity and tries to make it a reality | ||
607 | /// </summary> | ||
608 | /// <param name="force"></param> | ||
609 | /// <param name="pushforce">Is this a push by a script?</param> | ||
610 | public override void AddForce(PhysicsVector force, bool pushforce) | ||
611 | { | ||
612 | if (pushforce) | ||
613 | { | ||
614 | m_pidControllerActive = false; | ||
615 | force *= 100f; | ||
616 | doForce(force, false); | ||
617 | //System.Console.WriteLine("Push!"); | ||
618 | //_target_velocity.X += force.X; | ||
619 | // _target_velocity.Y += force.Y; | ||
620 | //_target_velocity.Z += force.Z; | ||
621 | } | ||
622 | else | ||
623 | { | ||
624 | m_pidControllerActive = true; | ||
625 | m_target_velocity.X += force.X; | ||
626 | m_target_velocity.Y += force.Y; | ||
627 | m_target_velocity.Z += force.Z; | ||
628 | } | ||
629 | //m_lastUpdateSent = false; | ||
630 | } | ||
631 | |||
632 | public void doForce(PhysicsVector force, bool now) | ||
633 | { | ||
634 | |||
635 | tempVector3.setValue(force.X, force.Y, force.Z); | ||
636 | if (now) | ||
637 | { | ||
638 | Body.applyCentralForce(tempVector3); | ||
639 | } | ||
640 | else | ||
641 | { | ||
642 | m_taintedForce += force; | ||
643 | m_parent_scene.AddPhysicsActorTaint(this); | ||
644 | } | ||
645 | } | ||
646 | |||
647 | public void doImpulse(PhysicsVector force, bool now) | ||
648 | { | ||
649 | |||
650 | tempVector3.setValue(force.X, force.Y, force.Z); | ||
651 | if (now) | ||
652 | { | ||
653 | Body.applyCentralImpulse(tempVector3); | ||
654 | } | ||
655 | else | ||
656 | { | ||
657 | m_taintedForce += force; | ||
658 | m_parent_scene.AddPhysicsActorTaint(this); | ||
659 | } | ||
660 | } | ||
661 | |||
662 | public override void AddAngularForce(PhysicsVector force, bool pushforce) | ||
663 | { | ||
664 | |||
665 | } | ||
666 | |||
667 | public override void SetMomentum(PhysicsVector momentum) | ||
668 | { | ||
669 | |||
670 | } | ||
671 | |||
672 | public override void SubscribeEvents(int ms) | ||
673 | { | ||
674 | m_eventsubscription = ms; | ||
675 | m_parent_scene.addCollisionEventReporting(this); | ||
676 | } | ||
677 | |||
678 | public override void UnSubscribeEvents() | ||
679 | { | ||
680 | m_parent_scene.remCollisionEventReporting(this); | ||
681 | m_eventsubscription = 0; | ||
682 | } | ||
683 | |||
684 | public override bool SubscribedEvents() | ||
685 | { | ||
686 | if (m_eventsubscription > 0) | ||
687 | return true; | ||
688 | return false; | ||
689 | } | ||
690 | |||
691 | internal void Dispose() | ||
692 | { | ||
693 | if (Body.isInWorld()) | ||
694 | m_parent_scene.removeFromWorld(Body); | ||
695 | |||
696 | if (m_aMotor.Handle != IntPtr.Zero) | ||
697 | m_parent_scene.getBulletWorld().removeConstraint(m_aMotor); | ||
698 | |||
699 | m_aMotor.Dispose(); m_aMotor = null; | ||
700 | ClosestCastResult.Dispose(); ClosestCastResult = null; | ||
701 | Body.Dispose(); Body = null; | ||
702 | Shell.Dispose(); Shell = null; | ||
703 | tempQuat1.Dispose(); | ||
704 | tempTrans1.Dispose(); | ||
705 | tempVector1.Dispose(); | ||
706 | tempVector2.Dispose(); | ||
707 | tempVector3.Dispose(); | ||
708 | tempVector4.Dispose(); | ||
709 | tempVector5RayCast.Dispose(); | ||
710 | tempVector6RayCast.Dispose(); | ||
711 | |||
712 | } | ||
713 | |||
714 | public void ProcessTaints(float timestep) | ||
715 | { | ||
716 | |||
717 | if (m_tainted_isPhysical != m_isPhysical) | ||
718 | { | ||
719 | if (m_tainted_isPhysical) | ||
720 | { | ||
721 | // Create avatar capsule and related ODE data | ||
722 | if (!(Shell == null && Body == null)) | ||
723 | { | ||
724 | m_log.Warn("[PHYSICS]: re-creating the following avatar ODE data, even though it already exists - " | ||
725 | + (Shell != null ? "Shell " : "") | ||
726 | + (Body != null ? "Body " : "")); | ||
727 | } | ||
728 | AvatarGeomAndBodyCreation(m_position.X, m_position.Y, m_position.Z); | ||
729 | |||
730 | |||
731 | } | ||
732 | else | ||
733 | { | ||
734 | // destroy avatar capsule and related ODE data | ||
735 | |||
736 | Dispose(); | ||
737 | tempVector1 = new btVector3(0, 0, 0); | ||
738 | tempVector2 = new btVector3(0, 0, 0); | ||
739 | tempVector3 = new btVector3(0, 0, 0); | ||
740 | tempVector4 = new btVector3(0, 0, 0); | ||
741 | |||
742 | tempVector5RayCast = new btVector3(0, 0, 0); | ||
743 | tempVector6RayCast = new btVector3(0, 0, 0); | ||
744 | tempVector7RayCast = new btVector3(0, 0, 0); | ||
745 | |||
746 | tempQuat1 = new btQuaternion(0, 0, 0, 1); | ||
747 | tempTrans1 = new btTransform(tempQuat1, tempVector1); | ||
748 | m_movementComparision = new PhysicsVector(0, 0, 0); | ||
749 | m_CapsuleOrientationAxis = new btVector3(1, 0, 1); | ||
750 | } | ||
751 | |||
752 | m_isPhysical = m_tainted_isPhysical; | ||
753 | } | ||
754 | |||
755 | if (m_tainted_CAPSULE_LENGTH != CAPSULE_LENGTH) | ||
756 | { | ||
757 | if (Body != null) | ||
758 | { | ||
759 | |||
760 | m_pidControllerActive = true; | ||
761 | // no lock needed on _parent_scene.OdeLock because we are called from within the thread lock in OdePlugin's simulate() | ||
762 | //d.JointDestroy(Amotor); | ||
763 | float prevCapsule = CAPSULE_LENGTH; | ||
764 | CAPSULE_LENGTH = m_tainted_CAPSULE_LENGTH; | ||
765 | //m_log.Info("[SIZE]: " + CAPSULE_LENGTH.ToString()); | ||
766 | Dispose(); | ||
767 | |||
768 | tempVector1 = new btVector3(0, 0, 0); | ||
769 | tempVector2 = new btVector3(0, 0, 0); | ||
770 | tempVector3 = new btVector3(0, 0, 0); | ||
771 | tempVector4 = new btVector3(0, 0, 0); | ||
772 | |||
773 | tempVector5RayCast = new btVector3(0, 0, 0); | ||
774 | tempVector6RayCast = new btVector3(0, 0, 0); | ||
775 | tempVector7RayCast = new btVector3(0, 0, 0); | ||
776 | |||
777 | tempQuat1 = new btQuaternion(0, 0, 0, 1); | ||
778 | tempTrans1 = new btTransform(tempQuat1, tempVector1); | ||
779 | m_movementComparision = new PhysicsVector(0, 0, 0); | ||
780 | m_CapsuleOrientationAxis = new btVector3(1, 0, 1); | ||
781 | |||
782 | AvatarGeomAndBodyCreation(m_position.X, m_position.Y, | ||
783 | m_position.Z + (Math.Abs(CAPSULE_LENGTH - prevCapsule) * 2)); | ||
784 | Velocity = new PhysicsVector(0f, 0f, 0f); | ||
785 | |||
786 | } | ||
787 | else | ||
788 | { | ||
789 | m_log.Warn("[PHYSICS]: trying to change capsule size, but the following ODE data is missing - " | ||
790 | + (Shell == null ? "Shell " : "") | ||
791 | + (Body == null ? "Body " : "")); | ||
792 | } | ||
793 | } | ||
794 | if (m_taintRemove) | ||
795 | { | ||
796 | Dispose(); | ||
797 | } | ||
798 | } | ||
799 | |||
800 | /// <summary> | ||
801 | /// Called from Simulate | ||
802 | /// This is the avatar's movement control + PID Controller | ||
803 | /// </summary> | ||
804 | /// <param name="timeStep"></param> | ||
805 | public void Move(float timeStep) | ||
806 | { | ||
807 | // no lock; for now it's only called from within Simulate() | ||
808 | |||
809 | // If the PID Controller isn't active then we set our force | ||
810 | // calculating base velocity to the current position | ||
811 | if (Body == null) | ||
812 | return; | ||
813 | tempTrans1.Dispose(); | ||
814 | tempTrans1 = Body.getInterpolationWorldTransform(); | ||
815 | tempVector1.Dispose(); | ||
816 | tempVector1 = tempTrans1.getOrigin(); | ||
817 | tempVector2.Dispose(); | ||
818 | tempVector2 = Body.getInterpolationLinearVelocity(); | ||
819 | |||
820 | if (m_pidControllerActive == false) | ||
821 | { | ||
822 | m_zeroPosition.X = tempVector1.getX(); | ||
823 | m_zeroPosition.Y = tempVector1.getY(); | ||
824 | m_zeroPosition.Z = tempVector1.getZ(); | ||
825 | } | ||
826 | //PidStatus = true; | ||
827 | |||
828 | PhysicsVector vec = new PhysicsVector(); | ||
829 | |||
830 | PhysicsVector vel = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); | ||
831 | |||
832 | float movementdivisor = 1f; | ||
833 | |||
834 | if (!m_alwaysRun) | ||
835 | { | ||
836 | movementdivisor = walkDivisor; | ||
837 | } | ||
838 | else | ||
839 | { | ||
840 | movementdivisor = runDivisor; | ||
841 | } | ||
842 | |||
843 | // if velocity is zero, use position control; otherwise, velocity control | ||
844 | if (m_target_velocity.X == 0.0f && m_target_velocity.Y == 0.0f && m_target_velocity.Z == 0.0f && m_iscolliding) | ||
845 | { | ||
846 | // keep track of where we stopped. No more slippin' & slidin' | ||
847 | if (!m_zeroFlag) | ||
848 | { | ||
849 | m_zeroFlag = true; | ||
850 | m_zeroPosition.X = tempVector1.getX(); | ||
851 | m_zeroPosition.Y = tempVector1.getY(); | ||
852 | m_zeroPosition.Z = tempVector1.getZ(); | ||
853 | } | ||
854 | if (m_pidControllerActive) | ||
855 | { | ||
856 | // We only want to deactivate the PID Controller if we think we want to have our surrogate | ||
857 | // react to the physics scene by moving it's position. | ||
858 | // Avatar to Avatar collisions | ||
859 | // Prim to avatar collisions | ||
860 | |||
861 | PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); | ||
862 | vec.X = (m_target_velocity.X - vel.X) * (PID_D) + (m_zeroPosition.X - pos.X) * (PID_P * 2); | ||
863 | vec.Y = (m_target_velocity.Y - vel.Y) * (PID_D) + (m_zeroPosition.Y - pos.Y) * (PID_P * 2); | ||
864 | if (m_flying) | ||
865 | { | ||
866 | vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D) + (m_zeroPosition.Z - pos.Z) * PID_P; | ||
867 | } | ||
868 | } | ||
869 | //PidStatus = true; | ||
870 | } | ||
871 | else | ||
872 | { | ||
873 | m_pidControllerActive = true; | ||
874 | m_zeroFlag = false; | ||
875 | if (m_iscolliding && !m_flying) | ||
876 | { | ||
877 | // We're standing on something | ||
878 | vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D); | ||
879 | vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D); | ||
880 | } | ||
881 | else if (m_iscolliding && m_flying) | ||
882 | { | ||
883 | // We're flying and colliding with something | ||
884 | vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 16); | ||
885 | vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 16); | ||
886 | } | ||
887 | else if (!m_iscolliding && m_flying) | ||
888 | { | ||
889 | // we're in mid air suspended | ||
890 | vec.X = ((m_target_velocity.X / movementdivisor) - vel.X) * (PID_D / 6); | ||
891 | vec.Y = ((m_target_velocity.Y / movementdivisor) - vel.Y) * (PID_D / 6); | ||
892 | } | ||
893 | |||
894 | if (m_iscolliding && !m_flying && m_target_velocity.Z > 0.0f) | ||
895 | { | ||
896 | // We're colliding with something and we're not flying but we're moving | ||
897 | // This means we're walking or running. | ||
898 | PhysicsVector pos = new PhysicsVector(tempVector1.getX(), tempVector1.getY(), tempVector1.getZ()); | ||
899 | vec.Z = (m_target_velocity.Z - vel.Z) * PID_D + (m_zeroPosition.Z - pos.Z) * PID_P; | ||
900 | if (m_target_velocity.X > 0) | ||
901 | { | ||
902 | vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D; | ||
903 | } | ||
904 | if (m_target_velocity.Y > 0) | ||
905 | { | ||
906 | vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D; | ||
907 | } | ||
908 | } | ||
909 | else if (!m_iscolliding && !m_flying) | ||
910 | { | ||
911 | // we're not colliding and we're not flying so that means we're falling! | ||
912 | // m_iscolliding includes collisions with the ground. | ||
913 | |||
914 | // d.Vector3 pos = d.BodyGetPosition(Body); | ||
915 | if (m_target_velocity.X > 0) | ||
916 | { | ||
917 | vec.X = ((m_target_velocity.X - vel.X) / 1.2f) * PID_D; | ||
918 | } | ||
919 | if (m_target_velocity.Y > 0) | ||
920 | { | ||
921 | vec.Y = ((m_target_velocity.Y - vel.Y) / 1.2f) * PID_D; | ||
922 | } | ||
923 | } | ||
924 | |||
925 | |||
926 | if (m_flying) | ||
927 | { | ||
928 | vec.Z = (m_target_velocity.Z - vel.Z) * (PID_D); | ||
929 | } | ||
930 | } | ||
931 | if (m_flying) | ||
932 | { | ||
933 | //vec.Z += ((-1 * m_parent_scene.gravityz) * m_mass); | ||
934 | } | ||
935 | if (Body != null && (((m_target_velocity.X > 0.2f || m_target_velocity.X < -0.2f) || (m_target_velocity.Y > 0.2f || m_target_velocity.Y < -0.2f)))) | ||
936 | { | ||
937 | Body.setFriction(0.001f); | ||
938 | //m_log.DebugFormat("[PHYSICS]: Avatar force applied: {0}, Target:{1}", vec.ToString(), m_target_velocity.ToString()); | ||
939 | } | ||
940 | |||
941 | if (Body != null) | ||
942 | { | ||
943 | int activationstate = Body.getActivationState(); | ||
944 | if (activationstate == 0) | ||
945 | { | ||
946 | Body.forceActivationState(1); | ||
947 | } | ||
948 | |||
949 | |||
950 | } | ||
951 | doImpulse(vec, true); | ||
952 | } | ||
953 | |||
954 | /// <summary> | ||
955 | /// Updates the reported position and velocity. This essentially sends the data up to ScenePresence. | ||
956 | /// </summary> | ||
957 | public void UpdatePositionAndVelocity() | ||
958 | { | ||
959 | if (Body == null) | ||
960 | return; | ||
961 | //int val = Environment.TickCount; | ||
962 | CheckIfStandingOnObject(); | ||
963 | //m_log.DebugFormat("time:{0}", Environment.TickCount - val); | ||
964 | |||
965 | //IsColliding = Body.checkCollideWith(m_parent_scene.TerrainBody); | ||
966 | |||
967 | tempTrans1.Dispose(); | ||
968 | tempTrans1 = Body.getInterpolationWorldTransform(); | ||
969 | tempVector1.Dispose(); | ||
970 | tempVector1 = tempTrans1.getOrigin(); | ||
971 | tempVector2.Dispose(); | ||
972 | tempVector2 = Body.getInterpolationLinearVelocity(); | ||
973 | |||
974 | // no lock; called from Simulate() -- if you call this from elsewhere, gotta lock or do Monitor.Enter/Exit! | ||
975 | PhysicsVector vec = new PhysicsVector(tempVector1.getX(),tempVector1.getY(),tempVector1.getZ()); | ||
976 | |||
977 | // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) | ||
978 | if (vec.X < 0.0f) vec.X = 0.0f; | ||
979 | if (vec.Y < 0.0f) vec.Y = 0.0f; | ||
980 | if (vec.X > (int)Constants.RegionSize - 0.2f) vec.X = (int)Constants.RegionSize - 0.2f; | ||
981 | if (vec.Y > (int)Constants.RegionSize - 0.2f) vec.Y = (int)Constants.RegionSize - 0.2f; | ||
982 | |||
983 | m_position.X = vec.X; | ||
984 | m_position.Y = vec.Y; | ||
985 | m_position.Z = vec.Z; | ||
986 | |||
987 | // Did we move last? = zeroflag | ||
988 | // This helps keep us from sliding all over | ||
989 | |||
990 | if (m_zeroFlag) | ||
991 | { | ||
992 | m_velocity.X = 0.0f; | ||
993 | m_velocity.Y = 0.0f; | ||
994 | m_velocity.Z = 0.0f; | ||
995 | |||
996 | // Did we send out the 'stopped' message? | ||
997 | if (!m_lastUpdateSent) | ||
998 | { | ||
999 | m_lastUpdateSent = true; | ||
1000 | //base.RequestPhysicsterseUpdate(); | ||
1001 | |||
1002 | } | ||
1003 | } | ||
1004 | else | ||
1005 | { | ||
1006 | m_lastUpdateSent = false; | ||
1007 | vec = new PhysicsVector(tempVector2.getX(), tempVector2.getY(), tempVector2.getZ()); | ||
1008 | m_velocity.X = (vec.X); | ||
1009 | m_velocity.Y = (vec.Y); | ||
1010 | |||
1011 | m_velocity.Z = (vec.Z); | ||
1012 | |||
1013 | if (m_velocity.Z < -6 && !m_hackSentFall) | ||
1014 | { | ||
1015 | m_hackSentFall = true; | ||
1016 | m_pidControllerActive = false; | ||
1017 | } | ||
1018 | else if (m_flying && !m_hackSentFly) | ||
1019 | { | ||
1020 | //m_hackSentFly = true; | ||
1021 | //base.SendCollisionUpdate(new CollisionEventUpdate()); | ||
1022 | } | ||
1023 | else | ||
1024 | { | ||
1025 | m_hackSentFly = false; | ||
1026 | m_hackSentFall = false; | ||
1027 | } | ||
1028 | } | ||
1029 | if (Body != null) | ||
1030 | { | ||
1031 | if (Body.getFriction() < 0.9f) | ||
1032 | Body.setFriction(0.9f); | ||
1033 | } | ||
1034 | //if (Body != null) | ||
1035 | // Body.clearForces(); | ||
1036 | } | ||
1037 | |||
1038 | public void CheckIfStandingOnObject() | ||
1039 | { | ||
1040 | |||
1041 | float capsuleHalfHeight = ((CAPSULE_LENGTH + 2*CAPSULE_RADIUS)*0.5f); | ||
1042 | |||
1043 | tempVector5RayCast.setValue(m_position.X, m_position.Y, m_position.Z); | ||
1044 | tempVector6RayCast.setValue(m_position.X, m_position.Y, m_position.Z - 1 * capsuleHalfHeight * 1.1f); | ||
1045 | |||
1046 | |||
1047 | ClosestCastResult.Dispose(); | ||
1048 | ClosestCastResult = new ClosestNotMeRayResultCallback(Body); | ||
1049 | |||
1050 | try | ||
1051 | { | ||
1052 | m_parent_scene.getBulletWorld().rayTest(tempVector5RayCast, tempVector6RayCast, ClosestCastResult); | ||
1053 | } | ||
1054 | catch (AccessViolationException) | ||
1055 | { | ||
1056 | m_log.Debug("BAD!"); | ||
1057 | } | ||
1058 | if (ClosestCastResult.hasHit()) | ||
1059 | { | ||
1060 | |||
1061 | if (tempVector7RayCast != null) | ||
1062 | tempVector7RayCast.Dispose(); | ||
1063 | |||
1064 | //tempVector7RayCast = ClosestCastResult.getHitPointWorld(); | ||
1065 | |||
1066 | /*if (tempVector7RayCast == null) // null == no result also | ||
1067 | { | ||
1068 | CollidingObj = false; | ||
1069 | IsColliding = false; | ||
1070 | CollidingGround = false; | ||
1071 | |||
1072 | return; | ||
1073 | } | ||
1074 | float zVal = tempVector7RayCast.getZ(); | ||
1075 | if (zVal != 0) | ||
1076 | m_log.Debug("[PHYSICS]: HAAAA"); | ||
1077 | if (zVal < m_position.Z && zVal > ((CAPSULE_LENGTH + 2 * CAPSULE_RADIUS) *0.5f)) | ||
1078 | { | ||
1079 | CollidingObj = true; | ||
1080 | IsColliding = true; | ||
1081 | } | ||
1082 | else | ||
1083 | { | ||
1084 | CollidingObj = false; | ||
1085 | IsColliding = false; | ||
1086 | CollidingGround = false; | ||
1087 | }*/ | ||
1088 | |||
1089 | //height+2*radius = capsule full length | ||
1090 | //CollidingObj = true; | ||
1091 | //IsColliding = true; | ||
1092 | m_iscolliding = true; | ||
1093 | } | ||
1094 | else | ||
1095 | { | ||
1096 | //CollidingObj = false; | ||
1097 | //IsColliding = false; | ||
1098 | //CollidingGround = false; | ||
1099 | m_iscolliding = false; | ||
1100 | } | ||
1101 | } | ||
1102 | } | ||
1103 | |||
1104 | } | ||